A determination device generates, based on a first captured image captured by a first image capturing device mounted on a moving object, a shape of a subject (one of subjects) included in the first captured image. The determination device estimates the location of the shape of the subject after specific time based on the location of the shape of the subject and a moving speed. The determination device extracts the shape of the subject from a second captured image captured by a second image capturing device mounted on the moving object; compares the location of the shape of the subject extracted from the second captured image with the location of the shape of the subject estimated from the first captured image; and performs determination related to a moving state of the subject.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A non-transitory computer readable recording medium having stored therein a determination program that causes a computer to execute a process comprising: receiving a first captured image that is captured by a first image capturing device mounted on a moving object and a moving speed of the moving object; extracting a first shape that is a shape of one of subjects included in the first captured image, based on the received first captured image; first specifying a first location that is an estimated appearance location of the first shape in a captured image that is newly captured by the first image capturing device after a specific time has elapsed from when the first captured image was captured, based on the location of the first shape in the first captured image and based on the received moving speed; second specifying a second location that is an appearance location of a second shape associated with the first shape in a second captured image, from among shapes of the subjects included in the received second captured image, when receiving the second captured image captured by a second image capturing device mounted on the moving object after the specific time has elapsed from when the first captured image was captured; and determining whether a moving state is related to the one of the subjects, based on a comparison result whether a second edge component is similar to a first edge component, the first edge component being associated with the shape of the subject in the first location specified at the first specifying, the second edge component being associated with the shape of the subject in the second location specified at the second specifying, wherein the determining determines that, when the second edge component is associated with the first edge component, the one of the subjects at the first location is a stationary object.
2. The non-transitory computer readable recording medium according to claim 1 , wherein the first specifying specifies the first location after elapse of the specific time assuming that, based on the location of the first shape in the first captured image and based on the moving speed, the one of the subjects is a stationary object.
3. The non-transitory computer readable recording medium according to claim 1 , wherein the first image capturing device is a stereo camera, and the extracting extracts the shape of the subject as the first shape, from among the subjects included in the first captured image, that is present at the location away from the first image capturing device by a specific distance.
4. The non-transitory computer readable recording medium according to claim 1 , the process further comprising storing, in a storage unit in association with the first location, information on the first shape of the one of the subjects that has been determined to be the stationary object.
5. A determination method comprising: receiving a first captured image that is captured by a first image capturing device mounted on a moving object and a moving speed of the moving object, using a processor; extracting a first shape that is a shape of one of subjects included in the first captured image, based on the received first captured image, using the processor; first specifying a first location that is an estimated appearance location of the first shape in a captured image that is newly captured by the first image capturing device after a specific time has elapsed from when the first captured image was captured, based on the location of the first shape in the first captured image and based on the received moving speed, using the processor; second specifying a second location that is an appearance location of a second shape associated with the first shape in a second captured image, from among shapes of the subjects included in the received second captured image, when receiving the second captured image captured by a second image capturing device mounted on the moving object after the specific time has elapsed from when the first captured image was captured, using the processor; and determining whether a moving state is related to the one of the subjects, based on a comparison result whether a second edge component is similar to a first edge component, the first edge component being associated with the shape of the subject in the first location specified at the first specifying, the second edge component being associated with the shape of the subject in the second location specified at the second specifying, using the processor, wherein the determining determines that, when the second edge component is associated with the first edge component, the one of the subjects at the first location is a stationary object.
6. The determination method according to claim 5 , wherein the first specifying specifies the first location after elapse of the specific time assuming that, based on the location of the first shape in the first captured image and based on the moving speed, the one of the subjects is a stationary object.
7. The determination method according to 5 , wherein the first image capturing device is a stereo camera, and the extracting extracts the shape of the subject as the first shape, from among the subjects included in the first captured image, that is present at the location away from the first image capturing device by a specific distance.
8. The determination method according to claim 5 , the process further comprising storing, in a storage unit in association with the first location, information on the first shape of the one of the subjects that has been determined to be the stationary object.
9. A determination device comprising: a memory; and a processor that executes a process comprising: receiving a first captured image that is captured by a first image capturing device mounted on a moving object and a moving speed of the moving object; extracting a first shape that is a shape of one of subjects included in the first captured image, based on the received first captured image; first specifying a first location that is an estimated appearance location of the first shape in a captured image that is newly captured by the first image capturing device after a specific time has elapsed from when the first captured image was captured, based on the location of the first shape in the first captured image and based on the received moving speed; second specifying a second location that is an appearance location of a second shape associated with the first shape in a second captured image, from among shapes of the subjects included in the received second captured image, when receiving the second captured image captured by a second image capturing device mounted on the moving object after the specific time has elapsed from when the first captured image was captured; and determining whether a moving state is related to the one of the subjects, based on a comparison result whether a second edge component is similar to a first edge component, the first edge component being associated with the shape of the subject in the first location specified at the first specifying, the second edge component being associated with the shape of the subject in the second location specified at the second specifying, wherein the determining determines that, when the second edge component is associated with the first edge component, the one of the subjects at the first location is a stationary object.
10. The determination device according to claim 9 , wherein the first specifying specifies the first location after elapse of the specific time assuming that, based on the location of the first shape in the first captured image and based on the moving speed, the one of the subjects is a stationary object.
11. The determination device according to claim 9 wherein the first image capturing device is a stereo camera, and the extracting extracts the shape of the subject as the first shape, from among the subjects included in the first captured image, that is present at the location away from the first image capturing device by a specific distance.
12. The determination device according to claim 9 , the process further comprising storing, in the memory in association with the first location, information on the first shape of the one of the subjects that has been determined to be the stationary object.
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January 24, 2019
March 2, 2021
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